WO2022052645A1

WO2022052645A1 - Unmanned aerial vehicle

Info

Publication number: WO2022052645A1
Application number: PCT/CN2021/107715
Authority: WO
Inventors: 肖锭锋; 何建兵; 徐智芹; 吴旭民; 谭亚辉
Original assignee: 广州极飞科技股份有限公司
Priority date: 2020-09-11
Filing date: 2021-07-21
Publication date: 2022-03-17

Abstract

An unmanned aerial vehicle (100), comprising: a fuselage assembly (1), the fuselage assembly comprising a storage device (11); vehicle arm devices (2), the number of the vehicle arm devices being two, the vehicle arm devices being located on two sides of the fuselage assembly respectively, two ends of the length of each vehicle arm device being an inner end and an outer end respectively, and the inner ends of the vehicle arm devices being installed on the fuselage assembly; and power devices (3), one power device being mounted on the outer end of each vehicle arm device, each power device comprising a power unit (31), and each power unit comprising a power motor (311) and a propeller (312) installed on the power motor. A lifting force generated by the two power devices is coplanar to form a preset plane (S3), and the preset plane passes through the storage device.

Description

drone

This application claims the priority of the Chinese patent application with the application number 202010955702.0 and the application name "UAV" filed with the China Patent Office on September 11, 2020, the entire contents of which are incorporated into this application by reference.

This application claims the priority of the Chinese patent application with the application number 202010955281.1 and the application name "UAV" filed with the China Patent Office on September 11, 2020, the entire contents of which are incorporated into this application by reference.

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle.

Background technique

With the development of drone technology, people can use drones to complete a lot of work, such as: spraying fire extinguishing liquid in forest fires, aerial photography, power inspection, environmental monitoring and disaster inspection and many other tasks. UAVs are mostly in the form of four, six or eight even-numbered rotors. This is because the flight control algorithm and motion form of the unmanned aerial system with even-numbered rotors are usually simpler. By adjusting the speed of each rotor, the realization of Changes in the lift of the unmanned aerial vehicle, thereby controlling the attitude and position of the unmanned aerial system. Therefore, in the related art, the size of the UAV is relatively large, and the production cost is high.

SUMMARY OF THE INVENTION

The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present disclosure proposes an unmanned aerial vehicle with a small volume.

An unmanned aerial vehicle according to an embodiment of the present application includes: a fuselage assembly, the fuselage assembly includes a storage device; and an arm device, the arm devices are two and are respectively located in the fuselage assembly. On both sides, the length ends of each of the arm devices are an inner end and an outer end, respectively, and the inner end of the arm device is mounted on the fuselage assembly; power devices, each of the arms The outer ends of the device are respectively installed with one of the power devices, and each of the power devices includes a power unit, and the power unit includes a power motor and a propeller mounted on the power motor; two of the power devices generate The lift forces of the two are coplanar to form a preset plane, and the preset plane passes through the storage device.

According to the unmanned aerial vehicle of the embodiment of the present application, by setting two arm devices, the unmanned aerial vehicle has a simple structure, a small volume, and a low production cost. Through the storage device, when the weight of the storage device is variable, the lift of the UAV can always balance with it, making the UAV better in balance and controllability.

Optionally, two of the arm devices are symmetrically arranged on both sides of the fuselage assembly with respect to a preset axis; the fuselage assembly further includes a power supply device and a fuselage body, on the side of the preset axis. In the extending direction, the body body and the power supply device are respectively located on two sides of the storage device.

Optionally, the inner end of the arm device is connected to the part of the fuselage body of the fuselage assembly, and the arm device extends from the fuselage body to the The direction of the power supply device extends, and the axis of the arm device and the preset axis intersect at an acute angle a1.

Optionally, the acute angle a1 ranges from 5° to 20°.

Optionally, the outer end of the arm device is bent along the direction from the power supply device to the body body, so that the central axis of the outer end of the arm device is aligned with the machine body. The central axes of the arm devices intersect at an obtuse angle a2.

Optionally, the arm device includes: an arm body, one end of the length of the arm body is the inner end of the arm device and is connected to the fuselage assembly; an arm end seat, so The arm end seat is installed on the other end of the length of the arm body, the arm end seat includes a first section and a second section, and the first section is sleeved on the other end of the length of the arm body. One end of the second section is connected to the first section, and the other end is set to install the power device, the second section is the outer end of the arm device, and the second section is The central axis of the arm device is the central axis of the outer end of the arm device, the central axis of the arm body is the central axis of the arm device, and the central axis of the second section is the same as the central axis of the arm body. The central axes intersect at an obtuse angle.

Optionally, an elastic groove is formed on the side wall of the first section, the elastic groove penetrates through the side wall of the first section to communicate with the socket hole in the first section, and the elastic groove extends away from the side wall of the first section. The direction of the second segment extends and passes through an end of the first segment away from the second segment.

Optionally, the arm body includes a first arm and a second arm, the length ends of the first arm are the first end and the second end respectively, and the length ends of the second arm are the third end respectively. and the fourth end; the arm body has an unfolded state, in which the second arm and the first arm are sequentially arranged and fixedly connected along the central axis of the arm body, and the The first end is connected to the fuselage assembly, the second end and the third end are arranged oppositely and are press-fitted with the concave surface through the convex surface, and the concave surface is provided on the second end and the third end On one of them, the convex surface is arranged on the other of the second end and the third end; the fourth end is connected with the arm end seat.

Optionally, the second arm is rotatably connected to the first arm, and the arm body also has a folded state. When the two arm bodies are respectively switched to the folded state, the two The second arms are respectively rotated and folded toward the direction close to the fuselage assembly.

Optionally, the two arm devices are axially symmetrical about the preset axis.

Optionally, the unmanned aerial vehicle further comprises: a driving device, the driving device is mounted on the outer end of the arm device or the fuselage assembly, and drives the power unit relative to the arm The device rotates around a preset axis, and the preset axis is parallel or coincident with the central axis of the outer end of the arm device.

An unmanned aerial vehicle according to an embodiment of the present application includes: a fuselage assembly; The two ends of the length are respectively the inner end and the outer end, the inner end of the arm device is installed on the fuselage assembly; the power device, the outer end of each arm device is respectively installed with a The power devices, each of which includes a power unit, and the power unit includes a power motor and a propeller installed on the power motor; a drive device, the drive device is installed on the outer part of the arm device. or the fuselage assembly, and drives the power unit to rotate relative to the arm device around a preset axis, the lift generated by the two power devices is coplanar on a preset plane, and the preset axis is parallel to the preset axis. The included angle of the preset plane is θ, and the θ satisfies: 0≤θ≤20°.

According to the unmanned aerial vehicle of the embodiment of the present invention, by setting two arm devices, the unmanned aerial vehicle has a simple structure, a small volume, and a low production cost, and the angle θ between the preset axis and the preset plane satisfies: 0≤θ≤20°, when the UAV is flying, the component force of the thrust generated by the propeller along the arrangement direction of the two power motors can be controlled within a small range, the energy loss is small, and the flight efficiency is high.

Optionally, the θ satisfies: 0°≤θ≤10°.

Optionally, the fuselage assembly includes a storage device, a power supply device and a fuselage body, the fuselage assembly has a reference axis, and the two machine arm devices are respectively located on both sides of the reference axis, In the extending direction of the reference axis, the body body and the power supply device are respectively located on two sides of the storage device, and the preset plane reference axis passes through the storage device.

Optionally, the inner end of the arm device is connected to the part of the fuselage body of the fuselage assembly, and the arm device extends from the fuselage body to the The direction of the power supply means extends, and the arm means intersects the reference axis at an acute angle.

Optionally, the outer end of the arm device is bent along the direction from the power supply device to the body body, so that the central axis of the outer end of the arm device is aligned with the machine body. The central axes of the arm devices intersect at an obtuse angle.

Optionally, the arm device includes: an arm body, one end of the length of the arm body is the inner end of the arm device and is connected to the fuselage assembly; an arm end seat, so The arm end seat is installed on the other end of the length of the arm body, the arm end seat includes a first section and a second section, and the first section is sleeved on the other end of the length of the arm body. One end of the two ends in the extending direction of the second section is connected to the first section, the other end is set to install the power device, and the second section serves as the outer part of the arm device. The central axis of the second section is the central axis of the outer end of the arm device, and the central axis of the arm body is the central axis of the arm device.

Optionally, the side wall of the first section further has connecting ears located on both sides of the elastic groove in the width direction and arranged oppositely, and the two oppositely arranged connecting ears are fastened and connected by connecting pieces.

Optionally, the arm body includes a first arm and a second arm, the length ends of the first arm are the first end and the second end respectively, and the length ends of the second arm are the third end respectively. and the fourth end; the arm body has an unfolded state, and in the unfolded state, the second arm and the first arm are sequentially arranged and fixedly connected along the central axis of the arm body, so The first end of the first arm is connected to the fuselage assembly, the second end of the first arm and the third end of the second arm are arranged opposite to each other and are pressed by the convex surface and the concave surface. For a tight fit, the concave surface is provided on one of the second end and the third end, and the convex surface is provided on the other of the second end and the third end.

Optionally, the two arm devices are axially symmetrical about the preset axis.

An unmanned aerial vehicle according to an embodiment of the present application includes: a fuselage assembly; an aircraft arm device, wherein the number of the aircraft arm devices is two and respectively located on opposite sides of the fuselage assembly, each of the aircraft arm devices The two ends of the length are the inner end and the outer end respectively, the inner end of the arm device is mounted on the fuselage assembly, the arm device is inclined upward from the inner end to the outer end, each of the The angle between the arm device and the horizontal plane is 9-35 degrees; the power device, one of the power devices is installed at the outer end of each of the arm devices, and each of the power devices includes a power unit , the power unit includes a power motor and a propeller mounted on the power motor.

Additional aspects and advantages of the present application will be set forth, in part, from the following description, and in part will become apparent from the following description, or may be learned by practice of the invention.

Description of drawings

1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention;

Figure 2 is a top view of the drone shown in Figure 1;

Figure 3 is a bottom view of the drone shown in Figure 1;

Fig. 4 is a partial exploded view of the UAV shown in Fig. 1;

Fig. 5 is the partial enlarged view of A part shown in Fig. 1;

Figure 6 is a partial perspective view of the first arm shown in Figure 2;

Figure 7 is a partial perspective view of the second arm shown in Figure 2;

8 is a partial exploded view of a drone according to another embodiment of the present invention;

FIG. 9 is a front view of the first mounting frame, the second mounting frame and the isolation plate shown in FIG. 3;

10 is a perspective view of a drone according to an embodiment of the present invention;

Figure 11 is a top view of the drone shown in Figure 10;

Figure 12 is a partial schematic view of the top view of the drone shown in Figure 10;

13 is a partial schematic view of a top view of an unmanned aerial vehicle according to another embodiment of the present invention;

Fig. 14 is a partial enlarged view at B in Fig. 13;

Figure 15 is a bottom view of the drone shown in Figure 10;

Figure 16 is a partial exploded view of the drone shown in Figure 10;

Fig. 17 is a partial enlarged view of part A shown in Fig. 10;

Figure 18 is a partial perspective view of the first arm shown in Figure 11;

Figure 19 is a partial perspective view of the second arm shown in Figure 11;

Figure 20 is a partial schematic diagram of a drone according to yet another embodiment of the present invention;

FIG. 21 is a front view of the first mounting frame, the second mounting frame, and the isolation plate shown in FIG. 15 .

Reference number:

Drone 100:

Body assembly 1;

Storage device 11; power supply device 12; fuselage body 13; landing gear 14;

Overall body 15; top plate 151; bottom plate 152;

The first installation frame 16; the fixing plate 161; the first connecting plate 162; the first installation space 160;

The second installation frame 17; the second connection plate 171; the third connection plate 172; the second installation space 170;

isolation plate 18;

Arm device 2;

Arm body 21;

first arm 211; first end 2111; second end 2112; concave surface 2113; annular concave surface 2113a;

The first lug 2131; the shaft 2133;

second arm 212; third end 2121; fourth end 2122; convex surface 2123; annular convex surface 2123a;

pivot mechanism 213; second lug 2132;

Detachable mechanism 214; third lug 2141; fourth lug 2142;

Arm end seat 22;

The first section 221; the elastic groove 2211; the connecting ear 2212; the second section 222;

power unit 3;

power unit 31; power motor 311; propeller 312; support member 313; fixing frame 314;

mounting assembly 32; mounting post 321; connecting collar 322; driving arm 323; bearing member 324;

pulley assembly 33; support frame 331; pulley 332;

drive device 4;

drive mechanism 41; adapter 411; steering gear 412; transmission assembly 413; connecting rod 414;

Pulling wire 42; first end 421; second end 422.

detailed description

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

The following disclosure provides many different embodiments or examples for implementing different structures of the invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are only examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in different instances. This repetition is for the purpose of simplicity and clarity and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the applicability of other processes and/or the use of other materials.

Example 1

Hereinafter, with reference to the accompanying drawings, an unmanned aerial vehicle 100 according to an embodiment of the present invention will be described.

As shown in FIG. 1 , an unmanned aerial vehicle 100 according to an embodiment of the present invention may include a fuselage assembly 1 , an arm device 2 and a power device 3 , and the fuselage assembly 1 may include a storage device 11 . For example, the storage device 11 can be used to store liquid, solid substances, etc., for example, it can be specifically configured to store pesticides, water, seeds, fertilizers, and the like. In addition, it can be understood that the fuselage assembly 1 is provided with a flight control device, and the flight control device can be set to control the working state of the UAV 100 , such as controlling the take-off and steering of the UAV 100 and controlling the UAV 100 The materials in the storage device are sprayed out, such as pesticides, seeds, etc., and as the spraying operation proceeds, the weight of the materials in the storage device 11 decreases and changes accordingly.

As shown in Figures 2 and 3, there are two arm devices 2 and they are located on both sides of the fuselage assembly 1, respectively. The length ends of each arm device 2 are the inner end and the outer end, respectively. The arm device 2 The inner end is installed on the fuselage assembly 1, and the outer end of each arm device 2 is respectively installed with a power device 3, each power device 3 can include a power unit 31, and the power unit 31 can include a power motor 311 and a mounting Therefore, when the power device 3 is working, the power motor 311 can drive the propeller 312 to rotate, thereby providing power for the flight of the UAV 100 .

Referring to FIG. 1 , the lift force (the lift force shown by the arrow M in FIG. 1 ) generated by the two power devices 3 is coplanar to form a preset plane S3 . It can be understood that each power motor 311 can drive the propeller 312 to rotate to generate a vertical upward lift force, which is the lift force generated by the power device 3, and the vertical upward lift force generated by the two power devices 3 respectively, The plane jointly defined by the two vertically upward lift forces is the preset plane S3. In addition, it is worth noting that when the UAV 100 is in the hovering state, the UAV 100 does not need to turn. At this time, the extension direction of the central axis L9 of each power motor 311 is parallel to the corresponding power device 3. Therefore, when the drone 100 is in a hovering state, the central axes L9 of the two power motors 311 are coplanar with the preset plane S3.

As shown in FIG. 1 , the preset plane S3 passes through the storage device 11 . Therefore, it is beneficial to reduce the influence of the weight change of the storage device 11 on the center of gravity of the UAV 100 , that is, to avoid the overall center of gravity of the UAV 100 along the preset plane perpendicular to the preset plane S3 along with the weight change of the storage device 11 . The direction of the axis L8 is set to be offset, so that when the weight of the UAV 100 is in a dynamic state (for example, the material is gradually unloaded), the UAV 100 can be better balanced, and the flight controllability of the UAV 100 can be improved. .

Therefore, according to the unmanned aerial vehicle 100 according to the embodiment of the present invention, by arranging the two arm devices 2 , the volume of the unmanned aerial vehicle 100 can be reduced, thereby reducing the occupied space of the unmanned aerial vehicle 100 . Moreover, since the weight of the storage device 11 changes gradually during the actual operation of the drone 100, for example, when the drone 100 is used to spray pesticides, etc., by passing the preset plane S3 through the storage device 11, Therefore, the balance of the UAV 100 can be improved, and the flight controllability of the UAV 100 can be improved.

In short, according to the unmanned aerial vehicle 100 according to the embodiment of the present invention, by providing two arm devices 2, the structure of the unmanned aerial vehicle 100 is simpler and the size is smaller, so that the production cost of the unmanned aerial vehicle 100 is lower, In addition, by reasonably arranging the relative positions of the devices, the balance and flight controllability of the UAV 100 are better.

In some embodiments of the present invention, as shown in FIG. 1 , the fuselage assembly 1 further includes a power supply device 12 and a fuselage body 13 . For example, the above-mentioned flight control device can be arranged on the fuselage body 13 to control the wireless The working state of the man-machine 100 , such as controlling the take-off and steering of the drone 100 and controlling the drone 100 to spray pesticides and seeds, etc., the power supply device 12 can provide the drone 100 with electrical energy.

As shown in FIG. 1 , in the extension direction of the preset axis L8 perpendicular to the preset plane S3, the main body 13 and the power supply device 12 are respectively located on both sides of the storage device 11, and the two arm devices 2 are located on the two sides of the storage device 11 respectively. Both sides of the preset axis L8. That is to say, in the extending direction of the preset axis L8 , the storage device 11 is located between the body body 13 and the power supply device 12 .

Therefore, during the actual operation of the drone 100, for example, when the drone 100 is used to spray pesticides, the weight of the storage device 11 changes gradually. Therefore, the storage device 11 is installed on the main body of the fuselage. 13 and the power supply device 12, the center of gravity of the UAV 100 is not easy to shift along the extension direction of the preset axis L8, so that the UAV 100 is always in a relatively balanced state, and the flight controllability of the UAV 100 is improved. .

In some embodiments of the present invention, as shown in FIGS. 2 and 3 , the two arm devices 2 are axially symmetrical about the preset axis L8. At this time, the preset axis L8 is used as the axis of symmetry, so that the preset plane S3 and The intersection P of the preset axis L8 is located in the storage device 11 , so that the balance and flight controllability of the UAV 100 can be better improved. Of course, the present invention is not limited to this, and the two arm devices 2 may not be arranged axisymmetrically with respect to the preset axis L8, that is, the two arm devices 2 are not axisymmetrically arranged with respect to the preset axis L8. In this case, by changing the The lift force of the power unit 3 on each arm unit 2 keeps the drone 100 in balance.

In some embodiments of the present invention, the fuselage assembly 1 may also be configured as an axisymmetric structure with respect to the preset axis L8. In this case, the preset axis L8 may be the centerline of the UAV 100, so that the preset plane S3 The intersection point P with the preset axis L8 is located in the storage device 11 , so that the balance and flight controllability of the UAV 100 can be better improved, and processing and manufacturing are facilitated.

In some embodiments of the present invention, as shown in FIG. 2 , the inner end of the arm device 2 is connected to the part of the body body 13 of the fuselage assembly 1 , and the arm device 2 runs from the inside to the outside along the direction from the body body. 13. The direction from the power supply device 12 to the direction away from the fuselage assembly 1 extends obliquely to the preset axis L8, so that the central axis L6 of the arm device 2 and the preset axis L8 of the fuselage assembly 1 intersect at an acute angle a1 ( as shown in picture 2). Therefore, when the drone 100 is in a hovering state, the central axes L9 of the two power motors 311 located at the outer ends of the arm device 2 can be coplanar with the preset plane S3, and the preset plane S3 can pass through the storage device. 11 , thereby ensuring the balance of the UAV 100 and improving the flight controllability of the UAV 100 .

It should be noted that the value range of the above-mentioned acute angle a1 is not limited, for example, the value range may be 5°˜20°, such as 8°, 9°, 12°, and the like. Thus, the balance of the UAV 100 can be more reliably and effectively ensured, and the flight controllability of the UAV 100 can be improved.

In some embodiments of the present invention, as shown in FIG. 3 , the outer end of the arm device 2 is bent along the direction from the power supply device 12 to the fuselage body 13 , so that the central axis L5 of the outer end of the arm device 2 is bent The obtuse angle a2 intersects with the central axis L6 of the arm device 2 (as shown in FIG. 3 ), that is to say, the arm device 2 can be divided into two sections: the main body section and the outer end section, and the inner end of the main body section and the fuselage assembly 1 is connected, the outer end of the main body section is connected with the outer end section, the center line of the main body section is the central axis L6 of the arm device 2, the outer end section is the outer end of the arm device 2 and the central line is the central axis L5. Therefore, the central axis L5 of the outer end of the arm device 2 can be made parallel or substantially parallel to the preset plane S3, or in other words, the central axis L5 of the outer end of the arm device 2 can be made to be parallel to the preset plane of the fuselage assembly 1. The axis L8 is vertical or approximately vertical. When the UAV 100 flies forward or backward, the propeller 312 rotates, and the central axis L9 of the two power motors 311 is inclined forward or backward, so that the direction of the resultant force on the UAV 100 can be adjusted. The movement is in a direction parallel or approximately parallel to the preset axis L8 of the fuselage assembly 1 , thereby facilitating the energy saving of the UAV 100 .

In some embodiments of the present invention, as shown in FIGS. 3 and 4 , the arm device 2 may include: an arm body 21 and an arm end seat 22 , and one end of the length of the arm body 21 is the inner part of the arm device 2 . The end of the arm is connected to the fuselage assembly 1. The arm end seat 22 is installed on the other end of the length of the arm body 21. The arm end seat 22 may include a first section 221 and a second section 222. The first section 221 is sleeved on the Outside the other end of the length of the arm body 21 , one end of the two ends of the second section 222 in the extending direction is connected to the first section 221 , and the other end is set to install the power device 3 . The central axis L5' of the second section 222 is the central axis L5 of the outer end of the arm device 2, and the central axis L6' of the arm body 21 is the central axis L6 of the arm device 2. Therefore, the central axis of the second section 222 The axis L5' intersects with the central axis L6' of the arm body 21 at an obtuse angle a2.

Therefore, the structure of the arm device 2 is simple and the processing difficulty is low, and the arm body 21 and the arm end seat 22 can be processed and formed separately, thereby improving the production efficiency and meeting different actual requirements. The length of the arm body 21 can be processed into different shapes of the arm end seat 22 according to the needs. Moreover, when the first section 221 is sleeved on the other end of the length of the arm body 21, the structural strength of the connection can be improved, and the When the central axis L5' and the central axis L6' intersect at an obtuse angle a2, the direction of the resultant force on the arm device 2 can be adjusted, so that the UAV 100 can fly forward more easily.

In some embodiments of the present invention, as shown in FIG. 4 , an elastic groove 2211 is formed on the side wall of the first section 221 , and the elastic groove 2211 penetrates through the side wall of the first section 221 to connect with the socket hole in the first section 221 Connected, the elastic groove 2211 extends in a direction away from the second section 222 (for example, the extension direction of the elastic groove 2211 is parallel to the extension direction of the central axis of the first section 221 ), and runs through the end of the first section 221 away from the second section 222 That is to say, the elastic groove 2211 is open at one end of the first section 221 away from the second section 222, so that when the first section 221 is sleeved outside the other end of the length of the arm body 21, it can pass through the elastic groove 2211 clamps the other end of the length of the arm body 21, thereby improving the connection stability between the arm body 21 and the arm end seat 22, and the elastic groove 2211 has a simple structure and is easy to process.

In some embodiments of the present invention, as shown in FIG. 4 , the side wall of the first section 221 may also have connecting ears 2212 located on both sides of the width of the elastic groove 2211 and arranged oppositely, and two oppositely arranged connecting ears 2212 . 2212 is fastened by connecting pieces (such as bolts and nuts or screws, etc.). Therefore, when the first section 221 is sleeved outside the other end of the length of the arm body 21, a connector can be used to connect and fasten the two oppositely arranged connecting ears 2212, so that the arm body 21 and the arm body 21 can be further improved. The connection stability and connection reliability when the arm end seat 22 is connected.

In some embodiments of the present invention, as shown in FIG. 2 , the arm body 21 may include a first arm 211 and a second arm 212 , and the length ends of the first arm 211 are the first end 2111 and the second end 2112 respectively , the length ends of the second arm 212 are the third end 2121 and the fourth end 2122 respectively, and the arm body 21 also has an unfolded state. In the unfolded state, the second arm 212 and the first arm 211 are located along the The central axis L6' is arranged in sequence and fixedly connected, the first end 2111 of the first arm 211 is connected to the fuselage assembly 1, and as shown in FIG. 6 and FIG. 7, the second end 2112 of the first arm 211 and the second arm 212 The third end 2121 is oppositely arranged and press-fitted with the concave surface 2113 through the convex surface 2123, the concave surface 2113 is provided on one of the second end 2112 and the third end 2121, and the convex surface 2123 is provided on the second end 2112 and the third end 2121 On the other one, the fourth end 2122 is connected to the arm end seat 22 .

Therefore, when the arm device 2 is in the unfolded state, the concave surface 2113 and the convex surface 2123 are press-fitted. For example, when the concave surface 2113 and the convex surface 2123 are press-fitted, one of the concave surface 2113 and the convex surface 2123 can be deformed. , or, both the concave surface 2113 and the convex surface 2123 can be deformed, thereby making the connection between the first arm 211 and the second arm 212 more secure when the arm device 2 is in the unfolded state, for example, under vibration or wind resistance It can also well ensure that relative vibration and noise do not occur between the first arm 211 and the second arm 212, improve the working reliability and safety of the arm device 2, and prolong the use of the arm device 2. life.

It should be noted that the specific form of the concave surface 2113 is not limited, for example, it may include but not limited to the annular concave surface 2113a, in addition, the specific form of the convex surface 2123 is also not limited, for example, it may include but not limited to the annular convex surface 2123a, when the concave surface 2113 is When the annular concave surface 2113a and the convex surface 2123 are the annular convex surface 2123a, it is beneficial to the deformation and compression of the concave surface 2113 and the convex surface 2123, and the inner ring hole of the annular concave surface 2113a and the inner ring hole of the annular convex surface 2123a can be relatively connected to realize the following The pulling wire 42 has technical effects such as passing the wire.

In some embodiments of the present invention, as shown in FIG. 2 , the second arm 212 is rotatably connected to the first arm 211 , and the arm body 21 also has a folded state. When the two arm bodies 21 are respectively switched to the folded state , the two second arms 212 are respectively rotated and folded toward the direction close to the fuselage assembly 1 . Therefore, when the arm body 21 is in the folded state, the length of the arm device 2 can be reduced, thereby reducing the overall occupied space of the drone 100 in the length direction of the arm device 2 , which is convenient for the use of the drone 100 . storage.

It should be noted that the specific form when the second arm 212 is rotatably connected to the first arm 211 is not limited. For example, in some specific embodiments of the present invention, in the unfolded state, the first arm 211 and the second arm 212 pass through The detachable mechanism 214 is fixedly connected, and in the folded state, the first arm 211 and the second arm 212 can be pivoted by the pivot mechanism 213, and the specific types of the detachable mechanism 214 and the pivot mechanism 213 are not limited, as long as It can satisfy that in the unfolded state of the machine arm device 2, the first arm 211 and the second arm 212 can be relatively fixed by the cooperation of the detachable mechanism 214 and the pivoting mechanism 213. In the folded state, the first arm 211 or the second arm 212 can be relatively fixed. The arm 212 can be folded through the cooperation of the detachable mechanism 214 and the pivoting mechanism 213. A specific example is described below, but the present invention is not limited to the following example.

In the specific example shown in FIG. 6 and FIG. 7 , the pivoting mechanism 213 includes a first lug 2131 provided on the first arm 211 and a second lug 2132 provided on the second arm 212, and is connected to the first lug 2131. A shaft 2133 of a lug 2131 and a second lug 2132, the detachable mechanism 214 includes a third lug 2141 disposed on the first arm 211 and a fourth lug 2142 disposed on the second arm 212, and the connecting Bolts and nuts (not shown) for the third lug 2141 and the fourth lug 2142.

In some embodiments of the present invention, the unmanned aerial vehicle 100 may further include: a driving device 4, the driving device 4 drives the power unit 31 to rotate relative to the arm device 2 around a preset axis L, and the preset axis L and the arm device 2 The central axis L5 of the outer end is parallel or coincident, so that the change can be realized and the flying direction of the UAV 100 can be changed. Therefore, when the UAV 100 is flying, the two driving devices 4 can be controlled to drive the power units 31 located at the outer ends of the two arm devices 2 to rotate at the same or different inclination angles, and the rotational speed of the power units 31 can be adjusted to The operation of the UAV 100 is relatively simple, and the operation of the UAV 100 is simpler, the size is smaller, and the overall structure is more compact.

It should be noted that when the flying direction of the UAV 100 is controlled by the driving device 4, for example, when the UAV 100 flies in the vertical direction, the propeller 312 provides the UAV 100 with a vertical upward lift. Moreover, the direction of the resultant force on the drone 100 is the vertical upward direction (it needs to be explained that the main force on the drone 100 at this time can be the vertical upward lift and the gravity on the drone 100 itself, And the lift is greater than the gravity), when the drone 100 flies to a certain height, the propeller 312 can be driven by the driving device 4 to rotate relative to the arm device 2 around the preset axis L to a certain angle of inclination. At this time, the propeller 312 provides The direction of the force will change accordingly, and the direction of the resultant force on the UAV 100 will also change accordingly. For example, if the propeller 312 tilts and rotates forward, the resultant force tilts forward, and the UAV 100 flies forward; similarly, the propeller 312 When tilted and rotated backwards, the resultant force is tilted backwards, and the UAV 100 flies backwards, etc. In addition, by adjusting the rotational speeds of the propellers 312 on the two arm devices 2 respectively, the UAV 100 can also realize actions such as turning left and right, I won't go into details here.

In the embodiment of the present invention, the driving device 4 can be installed on the outer end of the arm device 2 (as shown in FIG. 8 ) or installed on the fuselage assembly 1 (as shown in FIGS. 1-4 ), that is to say , the driving device 4 can be arranged at the outer end of the arm device 2 or at the fuselage assembly 1 . Thereby, the arrangement of the drive device 4 is made flexible.

For example, in the specific embodiment shown in FIGS. 4-5 , the driving device 4 may include a driving mechanism 41 and a pulling wire 42 , the driving mechanism 41 is mounted on the body assembly 1 , the pulling wire 42 is connected with the driving mechanism 41 , and the pulling wire 42 passes through the arm device 2 and is also connected to the power device 3 to drive the power unit 31 to rotate relative to the arm device 2 around the preset axis L. The power device 3 may also include: a mounting assembly 32, and the mounting assembly 32 may include a mounting column 321 With the connection collar 322, the mounting post 321 is connected with the outer end of the arm device 2, the power motor 311 is connected with the connection collar 322, the connection collar 322 is rotatably sleeved on the outside of the installation post 321, and the two pull wires 42 are respectively connected with the connecting collar 322. The two driving arms 323 on the connecting collar 322 are connected. When the driving mechanism 41 works, the two pulling wires 42 can be driven to move relative to each other to pull the connecting collar 322 to rotate around the central axis of the mounting post 321. The central axis of the mounting post 321 is The axis L is preset, so that the change can be realized so as to realize the change of the flying direction of the UAV 100 .

4 and 5, the driving device 4 may include two pull wires 42, each pull wire 42 has a first end 421 and a second end 422, the first ends 421 of the two pull wires 42 are respectively connected with the driving The mechanism 41 is connected, and the second ends 422 of the two pull wires 42 are respectively connected with the two driving arms 323. The driving mechanism 41 drives the two pull wires 42 to move relative to each other to pull the connecting collar 322 to rotate. Therefore, the pull wire 42 can simply and effectively pull the connection collar 322 to rotate, and the connection between the connection collar 322 and the pull wire 42 is facilitated. Of course, the present invention is not limited to this. For example, in other embodiments of the present invention, the driving device 4 may also include only one pulling wire, and the two ends of the pulling wire are respectively connected with the two driving arms 323. The drive for the rotation of the connecting collar 322 is achieved.

In some embodiments of the present invention, as shown in FIG. 4 , the power device 3 may further include: a pulley assembly 33 , the pulley assembly 33 may include a support frame 331 and two pulleys 332 , the support frame 331 is connected to the outer surface of the arm device 2 . The two pulleys 332 are respectively rotatably mounted on the support frame 331 , and the two pulleys 42 are guided and slid correspondingly by the two pulleys 332 respectively. Therefore, the pulley 332 can be fixed on the arm device 2 through the support frame 331 , and the two pulleys 42 can change the guiding direction of the pulleys 42 through the guiding function of the pulley 332 , thereby improving the working effectiveness of the driving device 4 .

For another example, in the specific embodiment shown in FIG. 8 , the driving device 4 is installed on the outer end of the arm device 2 , and may include a driving mechanism 41 and a connecting rod 414 , and as shown in FIG. 8 , the power device 3 may also Including: an installation assembly 32, the installation assembly 32 may include an installation post 321 and a connection collar 322, the installation post 321 is connected with the outer end of the arm device 2, the power motor 311 is connected with the connection collar 322, and the connection collar 322 is rotatable The two connecting rods 414 are respectively connected to the two driving arms 323 on the connecting collar 322. When the driving device 4 works, the two connecting rods 414 can be driven to move relative to each other to pull the connecting collar 322. Rotating around the central axis of the installation column 321 , the central axis of the installation column 321 is the preset axis L, so that the change can be realized so as to realize the change of the flying direction of the UAV 100 .

It should be noted that when the power motor 311 is connected to the connection collar 322, the power motor 311 and the connection collar 322 may be directly connected or indirectly connected. For example, in the specific embodiment shown in FIG. 8, the power unit 31 also includes a support member 313 and a fixing frame 314, and the power motor 311 is connected to the connecting collar 322 under the joint action of the support member 313 and the fixing frame 314 (for example, the support member 313 is located above the connecting collar 322 and is fixed. At the bottom of the power motor 311, the fixing frame 314 surrounds the bottom of the connection collar 322 and is fixedly connected with the connection collar 322 and the support member 313), so that the installation of the power motor 311 is more firm, thereby further improving the power unit 31. Stability and reliability during rotation.

In addition, in the above two specific examples, as shown in FIG. 4 and FIG. 8 , the power device 3 may further include a bearing member 324 , and the connecting collar 322 is rotatably sleeved on the outside of the mounting post 321 through the bearing member 324 , thereby , when the connecting collar 322 rotates around the central axis of the mounting post 321, the bearing member 324 can be used to avoid the problem of excessive friction between the connecting collar 322 and the mounting post 321 during direct contact and rotation, and the problem of excessive friction between the connecting collar 322 and the mounting post 321. The wear problem of the post 321 in direct contact and rotation can also be improved, and the flexibility and reliability of the connecting collar 322 when it rotates around the central axis of the mounting post 321 can be improved. However, the present invention is not limited to this. For example, the mounting post 321 and the connecting collar 322 may also be made of wear-resistant materials, which will not be described in detail here.

In addition, in the above two specific examples, the driving mechanism 41 may include a steering gear 412, an adapter 411 and a transmission assembly 413. The steering gear 412 drives the adapter 411 to rotate through the transmission assembly 413, and the adapter 411 drives the two The pull wire 42 moves relatively, or drives the two links 414 to move relatively. Wherein, the transmission component 413 may be a gear box or the like.

In addition, in some specific embodiments of the present invention, as shown in FIG. 1 , the UAV 100 may further include: a landing gear 14 , and the landing gear 14 is fixed under the fuselage assembly 1 to ensure that the UAV 100 takes off and landed stability. As shown in FIG. 3 and FIG. 9 , the fuselage assembly 1 may further include an overall body 15 , a first mounting frame 16 , a second mounting frame 17 and an isolation plate 18 , and as shown in FIG. 1 , the overall body 15 may include The top plate 151 and the bottom plate 152 are arranged to carry the body body 13 . Thus, the structure of the fuselage assembly 1 is made compact.

As shown in FIG. 3 and FIG. 9 , the overall body 15 , the first installation frame 16 and the second installation frame 17 are connected in sequence, wherein the storage device 11 and the power supply device 12 are respectively arranged on the first installation frame 16 and the second installation frame 17 . frame 17, so that the structure of the fuselage assembly 1 is compact, and the storage device 11 and the power supply device 12 are respectively arranged in the first installation frame 16 and the second installation frame 17 for easy disassembly and assembly. It is convenient for the user to remove the power supply device 12 for charging and other operations, and the installation is convenient.

As shown in FIG. 9 , the first mounting frame 16 may include a fixing plate 161 fixedly connected to the main body 15 and two first connecting plates 162 connected to both ends of the fixing plate, and the two first connecting plates 162 are about a preset axis L8 is symmetrically arranged, the second mounting frame 17 may include two second connecting plates 171 and two third connecting plates 172 , the two second connecting plates 171 are symmetrically arranged about the preset axis L8, and the two third connecting plates 172 are symmetrical about the preset axis L8. The preset axis L8 is symmetrically arranged, one end of the two second connecting plates 171 is respectively connected with one end of the two first connecting plates 162 away from the fixing plate 161 , and the two third connecting plates 172 are respectively connected to the two second connecting plates At the other end of 171, the isolation plate 18 is located between the first installation frame 16 and the second installation frame 17, and the isolation plate 18 is connected to the side of the two second connection plates 171 close to the first connection plate 161, so that the An installation frame 16 and a second installation frame 17 respectively define a first installation space 160 and a second installation space 170 . The storage device 11 can be installed in the first installation space 160 , and the power supply device 12 can be installed in the second installation space 170 . Therefore, the structures of the first mounting frame 16 and the second mounting frame 17 are simple and easy to process, thereby further reducing the production cost of the UAV 100 .

Embodiment 2

As shown in FIG. 10 , an unmanned aerial vehicle 100 according to an embodiment of the present invention may include: a fuselage assembly 1 , an arm device 2 , a power device 3 and a drive device 4 .

10 and FIG. 11 , there are two arm devices 2 located on both sides of the fuselage assembly 1, respectively. The length ends of each arm device 2 are the inner end and the outer end, respectively. The arm device 2 The inner end of the fuselage assembly 1 is installed.

For example, referring to FIG. 10 and FIG. 11 , the fuselage assembly 1 has a reference axis L8 perpendicular to the preset plane S3, and there are two arm devices 2 located in the fuselage assembly along a direction perpendicular to the reference axis L8. On both sides of 1, the length ends of each arm device 2 are the inner end and the outer end respectively, and the inner end of the arm device 2 is installed on the fuselage assembly 1.

Referring to FIGS. 10 and 11 , a power device 3 is installed on the outer end of each arm device 2 , and each power device 3 includes a power unit 31 . The power unit 31 includes a power motor 311 and is mounted on the power motor 311 . Therefore, when the power device 3 works, the power motor 311 can drive the propeller 312 to rotate, thereby providing power for the flight of the UAV 100 .

Specifically, as shown in FIG. 10 , the driving device 4 is installed on the outer end of the arm device 2 or the fuselage assembly 1 , and the driving power unit 31 rotates relative to the arm device 2 around a preset axis L, wherein the preset axis L extends in the horizontal direction, and the lift generated by the two power devices 3 (the direction of the lift is shown by the arrow N in FIG. 10 ) is coplanar on the preset plane S3. It can be understood that each power motor 311 can drive the propeller 312 rotates to generate a vertical upward lift, which is the lift generated by the power unit 3, the two power units 3 respectively generate a vertical upward lift, and the plane defined by the two vertically upward lift forces is the preset Plane S3. In addition, it is worth noting that when the UAV 100 is in a hovering state, the UAV 100 does not need to turn. At this time, the extension direction of the central axis L9 of each power motor 311 is parallel to the lift generated by the corresponding power device 3 In other words, the central axis L9 of each power motor 311 is perpendicular to the lift plane of the UAV 100. Therefore, when the UAV 100 is in a hovering state, the central axes L9 of the two power motors 311 are coplanar with the preset Plane S3.

Further, as shown in FIG. 14 , the angle between the preset axis L and the preset plane S3 is θ, and θ satisfies: 0≤θ≤20°. In other words, θ can take any value from 0 to 20°, for example, θ can take values 0°, 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9 °, 10°, 11°, 12°, 13°, 14°, 15°, 16°, 17°, 18°, 19°, 20°, etc.

Further, referring to FIGS. 12 and 13 , the central axis L9 of each power motor 311 and the corresponding preset axis L have an intersection point (the point M shown in FIG. 12 ), it can be understood that the two intersect The connecting line MM of the points is located on the preset plane S3 and extends in the horizontal direction, and the included angle between the preset axis L and the connecting line MM is the included angle θ.

It can be understood that, when the drone 100 is flying, the power units 31 located at the outer ends of the two arm devices 2 can be driven to rotate by the same or different inclination angles by controlling the two driving devices 4, so as to realize the completion of the drone 100. Actions such as forward, backward, turning, etc., are relatively simple to operate, and the UAV 100 has a simpler structure, a smaller size, and a more compact overall structure. At the same time, by making θ satisfy: 0≤θ≤20°, the propeller 312 The component force F3 of the generated thrust F1 along the direction parallel to the connecting line MM can be controlled within a relatively small range, in other words, the thrust F1 generated by the propeller 312 can be controlled along the arrangement direction of the two power motors 311 (wherein the two The arrangement direction of the power motors 311 is parallel to the lift plane of the UAV 100 ) and the component force F3 on the UAV 100 is controlled within a small range, the energy loss is small, and the flight efficiency is high.

It should be noted that when the flying direction of the UAV 100 is controlled by the driving device 4, for example, when the UAV 100 flies in the vertical direction, the propeller 312 provides the UAV 100 with a vertical upward lift. Moreover, the direction of the resultant force on the drone 100 is the vertical upward direction (it needs to be explained that the main force on the drone 100 at this time can be the vertical upward lift and the gravity on the drone 100 itself, And the lift is greater than the gravity), when the drone 100 flies to a certain height, the propeller 312 can be driven by the driving device 4 to rotate relative to the arm device 2 around the preset axis L to a certain angle of inclination. At this time, the propeller 312 provides The direction of the force will change accordingly, and the direction of the resultant force on the UAV 100 will also change accordingly. For example, when the two propellers 312 are tilted and rotated forward, the resultant force will tilt forward, and the UAV 100 will fly forward; , when the two propellers 312 are tilted and rotated backward, the resultant force is tilted backward, and the UAV 100 flies backward; when one of the propellers 312 is tilted and rotated forward, and the other propeller 312 is tilted and rotated backward, the UAV 100 can also turn left and right. Actions.

In some examples, as shown in FIG. 12 , θ is 0°, in other words, the preset axis L coincides with the connecting line MM. When the power device 3 rotates forward or backward around the preset axis L, the thrust force F1 is rotated along the The component force parallel to the direction of the connecting line MM is always zero. For example, as shown in FIG. 12 , when the power unit 3 on the left is tilted and rotated forward around the preset axis L, the thrust F1 generated by the propeller 312 is perpendicular to the connecting line MM and faces forward, and the thrust F1 is parallel to the connecting line MM. The component force F3 in the direction is zero, the energy loss is the smallest, and the flight efficiency is the highest.

In other examples, referring to FIGS. 13 and 14 , 0<θ≤20°, it can be understood that since θ is not zero, during the flight of the UAV 100, the thrust F1 generated by the propeller 312 will There is a component force F3 parallel to the direction of the connecting line MM, and by making 0<θ≤20°, F3 can be controlled in a small range, which is beneficial to reduce energy loss, improve flight efficiency, and help reduce the arm. The processing difficulty of the device 2 reduces the production cost of the arm device 2 .

For example, as shown in FIG. 14 , when the power unit 3 on the left side rotates forwardly around the preset axis L, the thrust F1 generated by the propeller 312 is inclined to the left with respect to the front-rear direction, and the thrust F1 along the direction perpendicular to the connecting line MM The component force F2 is directed forward, and the component force F3 of the thrust force F1 along the direction parallel to the connecting line MM is directed to the left.

According to the unmanned aerial vehicle 100 of the present invention, by arranging the two arm devices 2, the unmanned aerial vehicle 100 has a simple structure, a small volume, and a low production cost, and the preset axis L and the preset plane S3 are sandwiched between The angle θ satisfies: 0≤θ≤20°, when the UAV 100 is flying, the component force F3 of the thrust F1 generated by the propeller 312 along the arrangement direction of the two power motors 311 can be controlled within a small range , the energy loss is small, and the flight efficiency is high.

In the embodiment of the present invention, θ satisfies: 0°≤θ≤10°. In other words, θ can take any value from 0° to 10°, for example, θ can take values 0°, 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, etc. Therefore, when the UAV 100 is flying, it is beneficial to further reduce the component force F3, thereby reducing the energy loss and improving the flight efficiency.

In an optional embodiment of the present invention, θ satisfies: 2°≤θ≤10°, in other words, θ can take any value from 2° to 10°. Compared with when θ is zero, by making θ satisfy: 2 °≤θ≤10°, which is beneficial to further reduce the processing difficulty of the arm device 2 and the production cost of the arm device 2. At the same time, the component force F3 can be controlled within a small range to improve the performance of the UAV. The flight energy efficiency, in short, achieves a balance between the production cost of the UAV 100 and the flight energy efficiency, which is beneficial to improve the market competitiveness of the UAV 100 .

In the embodiment of the present invention, as shown in FIG. 10 , the body assembly 1 includes a storage device 11 , a power supply device 12 and a body body 13 , the body assembly 1 has a reference axis L8 , and the two arm devices 2 are respectively located at On both sides of the reference axis L8 , in the extension direction of the reference axis L8 , the main body 13 and the power supply device 12 are respectively located on both sides of the storage device 11 , and the preset plane S3 passes through the storage device 11 . For example, the storage device 11 can be used to store liquids, solid objects, etc., such as pesticides, water, seeds, fertilizers, etc. It can be understood that the fuselage body 13 can be used to control the working state of the UAV 100, such as controlling Take off, turn and control the drone 100 to spray the materials in the storage device 11, such as spraying pesticides, seeds, etc., the weight of the materials in the storage device 11 can be reduced with the spraying operation, and the power supply device 12 can provide power to the drone 100.

It can be understood that, during the actual operation of the drone 100, for example, when the drone 100 is used to spray pesticides and other operations, the weight of the storage device 11 changes gradually. Therefore, the storage device 11 is arranged on the drone. Between the body 13 and the power supply device 12 , by making the preset plane S3 pass through the storage device 11 , the balance of the UAV 100 can be ensured, and the flight controllability of the UAV 100 can be improved.

In the embodiment of the present invention, as shown in FIG. 11 and FIG. 12 , the two arm devices 2 are axially symmetrically arranged with respect to the preset axis L8. At this time, the preset axis L8 is used as the axis of symmetry, and thus, it is possible to better improve the Balance and flight controllability of the UAV 100 . Of course, the present invention is not limited to this, and the two arm devices 2 may not be arranged axisymmetrically with respect to the preset axis L8, that is, the two arm devices 2 are not axisymmetrically arranged with respect to the preset axis L8. In this case, by changing the The lift force of the power unit 3 on each arm unit 2 keeps the drone 100 in balance.

In the example of the present invention, as shown in FIG. 10 , the fuselage assembly 1 is constructed as an axisymmetric structure with respect to the preset axis L8. At this time, the preset axis L8 may be the centerline of the UAV 100. In the extending direction, the main body 13 and the power supply device 12 are located on two sides of the storage device 11 respectively, that is, in the extending direction of the reference axis L8, the storage device 11 is located between the main body 13 and the power supply device 12 .

Further, as shown in FIGS. 11 and 12 , the central axes L9 of the two power motors 311 are coplanar on the preset plane S3 , and the intersection of the preset plane S3 and the reference axis L8 is located in the storage device 11 . It can be understood that, since the weight of the storage device 11 changes gradually during the actual operation of the drone 100 , for example, when the drone 100 is used to spray pesticides, etc. The central axis L9 is coplanar with the preset plane S3, and the intersection of the preset plane S3 and the reference axis L8 is located in the storage device 11, so as to further ensure that the overall center of gravity of the drone 100 will not change with the weight of the storage device 11 The offset along the direction of the reference axis L8 further ensures the balance of the UAV 100 and improves the flight controllability of the UAV 100 .

In an optional embodiment of the present invention, as shown in FIG. 11 , the inner end of the arm device 2 is connected to the part where the body body 13 of the fuselage assembly 1 is located, and the arm device 2 runs from the inside to the outside along the direction from the body The direction from the main body 13 to the power supply device 12 extends obliquely to the reference axis L8 in the direction away from the fuselage assembly 1, so that the central axis L6 of the arm device 2 and the reference axis L8 of the fuselage assembly 1 intersect at an acute angle a1 (such as Figure 11). In this way, the central axes L9 of the two power motors 311 located at the outer ends of the arm device 2 can be coplanar with the preset plane S3, and the preset plane S3 can be ensured to pass through the storage device 11, thereby ensuring the safety of the UAV 100. Balance, improve the flight controllability of UAV 100.

It should be noted that, as shown in FIG. 11 , the value range of the above-mentioned acute angle a1 is not limited, for example, the value range may be 5°˜20°, such as 8°, 9°, 12°, and the like. Thus, the balance of the UAV 100 can be more reliably and effectively ensured, and the flight controllability of the UAV 100 can be improved.

In some embodiments of the present invention, as shown in FIG. 14 and FIG. 15 , the outer end of the arm device 2 is bent along the direction from the power supply device 12 to the body body 13 , so that the outer end of the arm device 2 is The central axis L5 and the central axis L6 of the arm device 2 intersect at an obtuse angle a2 (as shown in Figure 12 ), that is to say, the arm device 2 can be divided into two sections: a main body section and an outer end section. The body assembly 1 is connected, the outer end of the main body section is connected with the outer end section, the center line of the main body section is the central axis L6 of the arm device 2, the outer end section is the outer end of the arm device 2 and the center line is the central axis L5, the preset axis L may be parallel or coincident with the central axis L5 of the outer end of the arm device 2 . Therefore, the central axis L5 of the outer end of the arm device 2 can be made perpendicular or approximately perpendicular to the reference axis L8 of the fuselage assembly 1, so that when the power device 3 rotates around the preset axis L, it is beneficial to increase the thrust force F1 along the edge. The magnitude of the component force F2 perpendicular to the direction of the connection line MM is beneficial to the flight control of the UAV 100 and facilitates the realization of forward, backward or steering of the UAV 100 .

In some embodiments of the present invention, as shown in FIGS. 11 and 15 , the arm device 2 may include: an arm body 21 and an arm end seat 22 , and one end of the length of the arm body 21 is the inner part of the arm device 2 . The end of the arm is connected to the fuselage assembly 1. The arm end seat 22 is installed at the other end of the length of the arm body 21. The arm end seat 22 may include a first section 221 and a second section 222. The first section 221 is sleeved on the Outside the other end of the length of the arm body 21 , one end of the two ends of the second section 222 in the extending direction is connected to the first section 221 , and the other end is set to install the power device 3 . The central axis L5' of the second section 222 is the central axis L5 of the outer end of the arm device 2, and the central axis L6' of the arm body 21 is the central axis L6 of the arm device 2. Therefore, the central axis of the second section 222 The axis L5' intersects with the central axis L6' of the arm body 21 at an obtuse angle a2.

It can be understood that the arm body 21 and the arm end seat 22 can be processed and formed separately, so as to improve production efficiency and meet different actual requirements. The shape of the arm end seat 22, and when the first section 221 is sleeved on the other end of the length of the arm body 21, it can also improve the structural strength of the connection, and the central axis L5' and the central axis L6' intersect at an obtuse angle a2 When , the direction of the resultant force on the arm device 2 can be adjusted, so that the UAV 100 can more easily achieve forward, backward and steering.

In particular, when θ satisfies: 2°≤θ≤10°, the obtuse angle a2 of the intersection between the central axis L5' of the second segment 222 and the central axis L6' of the arm body 21 can be increased compared to when θ is zero, so that It is beneficial to reduce the processing difficulty of the machine arm device 2 and further reduce the production cost of the machine arm device 2 .

In some embodiments of the present invention, as shown in FIG. 16 , an elastic groove 2211 is formed on the side wall of the first section 221 , and the elastic groove 2211 penetrates through the side wall of the first section 221 to connect with the socket hole in the first section 221 connected, the elastic groove 2211 extends in a direction away from the second segment 222 (for example, as shown in FIG. 16 , the extension direction of the elastic groove 2211 is parallel to the extension direction of the central axis of the first segment 221 ), and runs through the first segment 221 One end away from the second segment 222 , that is, the elastic groove 2211 is open at the end of the first segment 221 away from the second segment 222 , so that the first segment 221 is sleeved on the other end of the length of the arm body 21 Outside, the other end of the length of the arm body 21 can be clamped by the elastic groove 2211, thereby improving the connection stability of the arm body 21 and the arm end seat 22, and the elastic groove 2211 has a simple structure and is easy to process.

In some embodiments of the present invention, as shown in FIG. 13 , the side wall of the first section 221 may further have connecting ears 2212 located on both sides of the elastic groove 2211 in the width direction and disposed oppositely. The ears 2212 are fastened by connecting members (eg, bolts and nuts or screws, etc.). Therefore, when the first section 221 is sleeved outside the other end of the length of the arm body 21, a connector can be used to connect and fasten the two oppositely arranged connecting ears 2212, so that the arm body 21 and the arm body 21 can be further improved. The connection stability and connection reliability when the arm end seat 22 is connected.

In some embodiments of the present invention, as shown in FIG. 11 , the arm body 21 may include a first arm 211 and a second arm 212 , and the length ends of the first arm 211 are the first end 2111 and the second end 2112 respectively. , the length ends of the second arm 212 are the third end 2121 and the fourth end 2122 respectively, and the arm body 21 has an unfolded state. In the unfolded state, the second arm 212 and the first arm 211 are along the The central axis L6' is arranged in sequence and fixedly connected, the first end 2111 of the first arm 211 is connected to the fuselage assembly 1, and as shown in FIG. 18 and FIG. 19, the second end 2112 of the first arm 211 and the second arm 212 The third end 2121 is oppositely arranged and press-fitted with the concave surface 2113 through the convex surface 2123, the concave surface 2113 is provided on one of the second end 2112 and the third end 2121, and the convex surface 2123 is provided on the second end 2112 and the third end 2121 On the other one, the fourth end 2122 is connected to the arm end seat 22 .

In some embodiments of the present invention, as shown in FIG. 11 , the second arm 212 is rotatably connected to the first arm 211 , and the arm body 21 also has a folded state. When the two arm bodies 21 are respectively switched to the folded state , the two second arms 212 are respectively rotated and folded toward the direction close to the fuselage assembly 1 . Therefore, when the arm body 21 is in the folded state, the length of the arm device 2 can be reduced, thereby reducing the overall occupied space of the drone 100 in the length direction of the arm device 2 , which is convenient for the use of the drone 100 . storage.

It should be noted that the specific form when the second arm 212 is rotatably connected to the first arm 211 is not limited. For example, in some specific embodiments of the present invention, in the unfolded state, the first arm 211 and the second arm 212 pass through The detachable mechanism 214 is fixedly connected, and in the folded state, the first arm 211 and the second arm 212 can be pivoted by the pivot mechanism 213, and the specific types of the detachable mechanism 214 and the pivot mechanism 213 are not limited, as long as It can satisfy that in the unfolded state of the machine arm device 2, the first arm 211 and the second arm 212 can be relatively fixed by the cooperation of the detachable mechanism 214 and the pivoting mechanism 213. In the folded state, refer to FIG. 18 and FIG. 19 . , so that the first arm 211 or the second arm 212 can be folded through the cooperation of the detachable mechanism 214 and the pivot mechanism 213 . A specific example is described below, but the present invention is not limited to the following example.

In the specific example shown in FIG. 15 and FIG. 16 , the pivoting mechanism 213 includes a first lug 2131 provided on the first arm 211 and a second lug 2132 provided on the second arm 212, and is connected to the first lug 2131. A shaft 2133 of a lug 2131 and a second lug 2132, the detachable mechanism 214 includes a third lug 2141 disposed on the first arm 211 and a fourth lug 2142 disposed on the second arm 212, and the connecting Bolts and nuts (not shown) for the third lug 2141 and the fourth lug 2142.

In the embodiment of the present invention, the driving device 4 can be installed on the outer end of the arm device 2 (as shown in FIG. 20 ) or installed on the fuselage assembly 1 (as shown in FIG. 10 to FIG. 16 ), that is to say , the driving device 4 can be arranged at the outer end of the arm device 2 or at the fuselage assembly 1 . Thereby, the arrangement of the drive device 4 is made flexible.

For example, in the specific embodiment shown in FIG. 10 , FIG. 16 and FIG. 17 , the driving device 4 may include a driving mechanism 41 and a pulling wire 42 , the driving mechanism 41 is installed on the body assembly 1 , and the pulling wire 42 is connected with the driving mechanism 41 . , and the pull wire 42 passes through the arm device 2 and is also connected to the power device 3 to drive the power unit 31 to rotate relative to the arm device 2 around the preset axis L. The power device 3 may also include: an installation assembly 32. The installation assembly 32 may include The mounting post 321 and the connecting collar 322 are connected to the outer end of the arm device 2, the power motor 311 is connected to the connecting collar 322, and the connecting collar 322 is rotatably sleeved on the outside of the mounting post 321. 42 are respectively connected with the two driving arms 323 on the connecting collar 322. When the driving mechanism 41 works, the two pulling wires 42 can be driven to move relative to each other to pull the connecting collar 322 to rotate around the central axis of the mounting post 321. The center line coincides with the center line of the connecting collar 322 and is the preset axis L, so that the flight direction of the UAV 100 can be changed.

For another example, in the specific embodiment shown in FIG. 20 , the driving device 4 is installed on the outer end of the arm device 2 , and may include a driving mechanism 41 and a connecting rod 414 , and as shown in FIG. 20 , the power device 3 may also Including: an installation assembly 32, the installation assembly 32 may include an installation post 321 and a connection collar 322, the installation post 321 is connected with the outer end of the arm device 2, the power motor 311 is connected with the connection collar 322, and the connection collar 322 is rotatable The two connecting rods 414 are respectively connected to the two driving arms 323 on the connecting collar 322. When the driving device 4 works, the two connecting rods 414 can be driven to move relative to each other to pull the connecting collar 322. Rotating around the central axis of the mounting post 321 , the central line of the mounting post 321 and the central line of the connecting collar 322 coincide and are the preset axis L, so as to change the flight direction of the UAV 100 .

In addition, in the above two specific examples, as shown in FIG. 20 , the power device 3 may further include a bearing member 324 , and the connecting collar 322 is rotatably sleeved on the outside of the mounting post 321 through the bearing member 324 . When the collar 322 rotates around the central axis of the mounting post 321, the bearing member 324 can be used to avoid the problem of excessive friction between the connecting collar 322 and the mounting post 321 during direct contact and rotation, and the direct connection between the collar 322 and the mounting post 321. In addition, it can improve the flexibility and reliability of the connecting collar 322 when it rotates around the central axis of the mounting post 321 . However, the present invention is not limited to this. For example, the mounting post 321 and the connecting collar 322 may also be made of wear-resistant materials, which will not be described in detail here.

In addition, in the above two specific examples, the driving mechanism 41 may include a steering gear 412, an adapter 411 and a transmission assembly 413. The steering gear 412 drives the adapter 411 to rotate through the transmission assembly 413, and the adapter 411 drives the two The pull wire 42 moves relatively (refer to FIG. 17 ), or drives the two links 414 to move relative to each other (refer to FIG. 20 ). Wherein, the transmission component 413 may be a gear box or the like.

In some embodiments of the invention, parts of the boom arrangement 2 extend obliquely upwards in the direction from the inside to the outside. Wherein, the direction close to the reference axis L8 of the fuselage assembly 1 is inward, and the direction away from the reference axis L8 of the fuselage assembly 1 is outward. Therefore, it is beneficial to ensure the stability of the flight of the UAV 100 , which is beneficial to provide the UAV 100 with maximum lift with the smallest power, and improve the flight energy efficiency of the UAV 100 . Of course, the present invention is not limited to this, and the boom device 2 may also extend horizontally in a direction parallel to the lift plane (refer to FIG. 10 ).

In some examples, the arm assembly 2 includes an arm body 21 and an arm end seat 22, and the angle between the arm body 21 and the lift plane may be between 0 and 20°, for example, the arm assembly 2 and the lift The angle between the planes can be 0°, 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 11°, 12°, 13° °, 14°, 15°, 16°, 17°, 18°, 19°, 20°, etc. Therefore, it is beneficial to improve the flight stability of the UAV 100, and the manufacture is convenient and the production cost is low.

In addition, in some specific embodiments of the present invention, as shown in FIG. 10 , the UAV 100 may further include: a landing gear 14 , and the landing gear 14 is fixed under the fuselage assembly 1 to ensure the take-off and landing of the UAV 100 stability. As shown in FIG. 15 and FIG. 21 , the fuselage assembly 1 may further include an overall body 15 , a first mounting frame 16 , a second mounting frame 17 and an isolation plate 18 , and as shown in FIG. 10 , the overall body 15 may include The top plate 151 and the bottom plate 152 are configured to carry the fuselage body 13 . Thus, the structure of the fuselage assembly 1 is made compact.

As shown in FIG. 15 and FIG. 21 , the overall body 15 , the first installation frame 16 and the second installation frame 17 are connected in sequence, wherein the storage device 11 and the power supply device 12 are respectively arranged on the first installation frame 16 and the second installation frame 17 . frame 17, so that the structure of the fuselage assembly 1 is compact, and the storage device 11 and the power supply device 12 are respectively arranged in the first installation frame 16 and the second installation frame 17 for easy disassembly and assembly. The material device 11 can be removed for operations such as adding liquid and material, and it is convenient for the user to remove the power supply device 12 for charging and other operations, and the installation is convenient.

As shown in FIG. 21 , the first mounting frame 16 may include a fixing plate 161 fixedly connected to the main body 15 and two first connecting plates 162 connected to both ends of the fixing plate, the two first connecting plates 162 are about the reference axis L8 Symmetrically arranged, the second mounting frame 17 may include two second connection plates 171 and two third connection plates 172 , the two second connection plates 171 are arranged symmetrically with respect to the reference axis L8 , and the two third connection plates 172 are arranged with respect to the reference axis L8 is symmetrically arranged, one end of the two second connecting plates 171 is respectively connected with one end of the two first connecting plates 162 away from the fixing plate 161 , and the two third connecting plates 172 are respectively connected to the other end of the two second connecting plates 171 . At one end, the isolation plate 18 is located between the first installation frame 16 and the second installation frame 17, and the isolation plate 18 is connected to the side of the two second connection plates 171 close to the first connection plate 161, so that the first installation frame 16 and the second installation frame 17 respectively define a first installation space 160 and a second installation space 170 . The storage device 11 can be installed in the first installation space 160 , and the power supply device 12 can be installed in the second installation space 170 . Therefore, the structures of the first installation frame 16 and the second installation frame 17 are simple and easy to process, thereby further reducing the production cost of the UAV 100 .

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, The scope of the invention is defined by the claims and their equivalents.

Industrial Applicability

The solution provided by the embodiment of the present application can improve the balance of the drone and the flight controllability of the drone. In the technical solution provided by the embodiment of the present application, the drone 100 may include: a fuselage assembly 1; The arm device 2 and the power device 3, the fuselage assembly 1 may include a storage device 11, a flight control device is provided on the fuselage assembly 1, and the flight control device is set to control the working state of the drone 100, for example, to control the unmanned aerial vehicle 100. The take-off and steering of the man-machine 100 and the control of the unmanned aerial vehicle 100 to spray the materials in the storage device, and by setting the two arm devices 2, the volume of the unmanned aerial vehicle 100 is reduced, thereby reducing the occupation of the unmanned aerial vehicle 100 By making the preset plane S3 pass through the storage device 11, the balance of the UAV 100 can be improved, and the flight controllability of the UAV 100 can be improved.

Claims

An unmanned aerial vehicle (100), comprising:

A fuselage assembly (1), the fuselage assembly (1) includes a storage device (11);

A machine arm device (2), the two machine arm devices (2) are located on both sides of the fuselage assembly (1) respectively, and the length ends of each of the machine arm devices (2) are respectively an inner end and an outer end, the inner end of the arm device (2) is mounted on the fuselage assembly (1);

a power device (3), one of the power devices (3) is respectively mounted on the outer end of each of the arm devices (2), and each of the power devices (3) includes a power unit (31), The power unit (31) includes a power motor (311) and a propeller (312) mounted on the power motor (311);

The lift forces generated by the two power devices (3) are coplanar to form a preset plane (S3), and the preset plane (S3) passes through the storage device (11).
The unmanned aerial vehicle (100) according to claim 1, wherein the fuselage assembly (1) comprises a power supply device (12) and a fuselage body (13), which are in the same direction as the preset plane (S3). ) in the extension direction of the vertical preset axis (L8), the body body (13) and the power supply device (12) are respectively located on both sides of the storage device (11).
The unmanned aerial vehicle (100) according to claim 2, wherein the inner end of the arm device (2) and the part of the fuselage body (13) of the fuselage assembly (1) are located connected, the arm device (2) extends from the inside to the outside along the direction from the fuselage body (13) to the power supply device (12), and the axis (L6) of the arm device (2) The intersection with the preset axis (L8) is at an acute angle a1.
The drone (100) according to claim 3, wherein the acute angle a1 is in the range of 5°˜20°.
The drone (100) according to claim 3, wherein the outer end of the arm device (2) is along a direction from the power supply device (12) to the fuselage body (13) Bending so that the central axis (L5) of the outer end of the arm device (2) and the central axis (L6) of the arm device (2) intersect at an obtuse angle a2.
The drone (100) according to claim 5, wherein the arm device (2) comprises:

an arm body (21), one end of the length of the arm body (21) is the inner end of the arm device (2) and is connected to the fuselage assembly (1);

An arm end seat (22), the arm end seat (22) is mounted on the other end of the length of the arm body (21), and the arm end seat (22) includes a first section (221) and a second section (221). Two sections (222), the first section (221) is sleeved outside the other end of the length of the arm body (21), and one end of the second section (222) is connected to the first section (222). 221) are connected, the other end is set to install the power device (3), the second section (222) is the outer end of the arm device (2), the middle of the second section (222) is The axis (L5') is the central axis (L5) of the outer end of the arm device (2), and the central axis (L6') of the arm body (21) is the central axis (L6') of the arm device (2). Central axis (L6).
The unmanned aerial vehicle (100) according to claim 6, wherein an elastic groove (2211) is formed on the side wall of the first section (221), and the elastic groove (2211) runs through the first section (221) ) to communicate with the socket hole in the first section (221), the elastic groove (2211) extends in a direction away from the second section (222), and penetrates through the first section (221). 221) away from the end of the second segment (222).
The drone (100) according to claim 6, wherein the arm body (21) comprises a first arm (211) and a second arm (212), and the length of the first arm (211) is two The ends are the first end (2111) and the second end (2112) respectively, the length ends of the second arm (212) are the third end (2121) and the fourth end (2122) respectively; the arm body (21) has a deployed state, in which the second arm (212) and the first arm (211) are arranged in sequence along the central axis (L6') of the arm body (21) and fixedly connected, the first end (2111) is connected to the fuselage assembly (1), the second end (2112) and the third end (2121) are arranged opposite to each other through the convex surface (2123) and the concave surface (2113) Press fit, the concave surface (2113) is provided on one of the second end (2112) and the third end (2121), and the convex surface (2123) is provided on the second end (2112) on the other of the end (2112) and the third end (2121); the fourth end (2122) is connected with the arm end seat (22).
The drone (100) according to claim 8, wherein the second arm (212) is rotatably connected to the first arm (211), and the arm body (21) further has a folded state, When the two arm bodies (21) are respectively switched to the folded state, the two second arms (212) are respectively rotated and folded toward the direction close to the body assembly (1).
The drone (100) according to any one of claims 2-9, wherein two of the arm devices (2) are arranged axisymmetrically with respect to the preset axis (L8).
The drone (100) of claim 1, wherein the drone (100) further comprises:

A driving device (4), the driving device (4) is mounted on the outer end of the arm device (2) or the fuselage assembly (1), and drives the power unit (31) relative to the The arm device (2) rotates around a preset axis (L), and the preset axis (L) is parallel or coincident with the central axis (L5) of the outer end of the arm device (2).
An unmanned aerial vehicle (100), comprising:

Airframe assembly (1);

A machine arm device (2), the two machine arm devices (2) are located on both sides of the fuselage assembly (1) respectively, and the length ends of each of the machine arm devices (2) are respectively an inner end and an outer end, the inner end of the arm device (2) is mounted on the fuselage assembly (1);

a power device (3), one of the power devices (3) is respectively mounted on the outer end of each of the arm devices (2), and each of the power devices (3) includes a power unit (31), The power unit (31) includes a power motor (311) and a propeller (312) mounted on the power motor (311);

A driving device (4), the driving device (4) is mounted on the outer end of the arm device (2) or the fuselage assembly (1), and drives the power unit (31) relative to the The arm device (2) rotates around a preset axis (L), the lift generated by the two power devices (3) is coplanar on a preset plane (S3), and the preset axis (L) and the preset axis (L) are coplanar. Let the included angle between the planes (S3) be θ, and the θ satisfies: 0≤θ≤20°.
The drone (100) according to claim 12, wherein the θ satisfies: 0°≤θ≤10°.
The unmanned aerial vehicle (100) according to claim 12, wherein the fuselage assembly (1) comprises a storage device (11), a power supply device (12) and a fuselage body (13), which are connected to the fuselage body (13). In the extension direction of the preset axis (L8) perpendicular to the preset plane (S3), the body body (13) and the power supply device (12) are respectively located on both sides of the storage device (11), so The preset plane (S3) passes through the storage device (11).
The unmanned aerial vehicle (100) according to claim 14, wherein the inner end of the arm device (2) is located at the position where the fuselage body (13) of the fuselage assembly (1) is located connected, the arm device (2) extends from the inside to the outside along the direction from the fuselage body (13) to the power supply device (12), and the arm device (2) is connected to the reference axis (L8) intersects the acute angle (a1).
The drone (100) according to claim 15, wherein the outer end of the arm device (2) is along a direction from the power supply device (12) to the fuselage body (13) Bending so that the central axis (L5) of the outer end of the arm device (2) intersects an obtuse angle (a2) with the central axis (L6) of the arm device (2).
The drone (100) according to claim 16, wherein the arm device (2) comprises:

an arm body (21), one end of the length of the arm body (21) is the inner end of the arm device (2) and is connected to the fuselage assembly (1);

An arm end seat (22), the arm end seat (22) is mounted on the other end of the length of the arm body (21), and the arm end seat (22) includes a first section (221) and a second section (221). Two sections (222), the first section (221) is sleeved outside the other end of the length of the arm body (21), and one of the two ends of the second section (222) in the extending direction Connected to the first section (221), the other end is configured to install the power device (3), the second section (222) is used as the outer end of the arm device (2), the first The central axis (L5') of the second section (222) is the central axis (L5) of the outer end of the arm device (2), and the central axis (L6') of the arm body (21) is the central axis (L6') of the arm body (21). The central axis (L6) of the arm device (2).
The unmanned aerial vehicle (100) according to claim 17, wherein an elastic groove (2211) is formed on the side wall of the first section (221), and the elastic groove (2211) runs through the first section (221) ) to communicate with the socket hole in the first section (221), the elastic groove (2211) extends in a direction away from the second section (222), and penetrates through the first section (221). 221) away from the end of the second segment (222).
The unmanned aerial vehicle (100) according to claim 18, wherein the side wall of the first section (221) is further provided with connecting ears located on both sides in the width direction of the elastic groove (2211) and oppositely disposed (2212), the two connecting ears (2212) disposed opposite to each other are fastened and connected by connecting pieces.
The unmanned aerial vehicle (100) according to claim 17, wherein the arm body (21) comprises a first arm (211) and a second arm (212), and the length of the first arm (211) is two The ends are the first end (2111) and the second end (2112) respectively, the length ends of the second arm (212) are the third end (2121) and the fourth end (2122) respectively; the arm body (21) has a deployed state, in which the second arm (212) and the first arm (211) are arranged in sequence along the central axis (L6') of the arm body (21) and fixedly connected, the first end (2111) of the first arm (211) is connected to the fuselage assembly (1), and the second end (2112) of the first arm (211) It is arranged opposite to the third end (2121) of the second arm (212) and is press-fitted with the concave surface (2113) through the convex surface (2123), and the concave surface (2113) is provided on the second end (2112). ) and one of the third end (2121), and the convex surface (2123) is provided on the other of the second end (2112) and the third end (2121).
The drone (100) according to any one of claims 14-20, wherein two of the arm devices (2) are arranged axisymmetrically with respect to the preset axis (L8).